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自动瞄准+射球已封装 增加conveyor独立控制

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This commit is contained in:
OnDYCLaptop
2026-03-09 12:17:42 +08:00
parent 9a426a8f8a
commit c8b7359b99
26 changed files with 351 additions and 306 deletions
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src/main/deploy/pathplanner/autos/8 Balls Auto Middle Start Point.auto → src/main/deploy/pathplanner/autos/8 Balls Auto Middle Start.auto
+1 -1
View File
@@ -7,7 +7,7 @@
{
"type": "path",
"data": {
"pathName": "redBackAndShoot"
"pathName": "Back To Shoot"
}
},
{
src/main/deploy/pathplanner/autos/8 Balls and Climb Middle Start.auto
+9 -3
View File
@@ -7,7 +7,7 @@
{
"type": "path",
"data": {
"pathName": "redBackAndShoot"
"pathName": "Back To Shoot"
}
},
{
@@ -19,13 +19,19 @@
{
"type": "path",
"data": {
"pathName": "Climb Path step1"
"pathName": "Shoot to Climb Step1"
}
},
{
"type": "path",
"data": {
"pathName": "Climb Path step2"
"pathName": "Climb Step2"
}
},
{
"type": "path",
"data": {
"pathName": "Climb Step3"
}
}
]
src/main/deploy/pathplanner/autos/Copy of Depot Auto.auto
+101
View File
@@ -0,0 +1,101 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Back To Shoot"
}
},
{
"type": "named",
"data": {
"name": "intaker_down"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "shoot"
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Shoot to Red Depot"
}
},
{
"type": "named",
"data": {
"name": "start_intake_timelimit"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "start_intake_timelimit"
}
},
{
"type": "path",
"data": {
"pathName": "Depot Intake"
}
}
]
}
},
{
"type": "parallel",
"data": {
"commands": [
{
"type": "named",
"data": {
"name": "intaker_up"
}
},
{
"type": "path",
"data": {
"pathName": "Depot to Shoot"
}
}
]
}
},
{
"type": "named",
"data": {
"name": "shoot"
}
}
]
}
},
"resetOdom": true,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Depot Auto.auto
+3 -3
View File
@@ -17,7 +17,7 @@
{
"type": "path",
"data": {
"pathName": "redDepotPath"
"pathName": "To Red Depot"
}
}
]
@@ -42,7 +42,7 @@
{
"type": "path",
"data": {
"pathName": "depotIntakePath"
"pathName": "Depot Intake"
}
}
]
@@ -67,7 +67,7 @@
{
"type": "path",
"data": {
"pathName": "depotShootPath"
"pathName": "Depot to Shoot"
}
}
]
src/main/deploy/pathplanner/autos/Line.auto
-19
View File
@@ -1,19 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Climb Path step2"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/LineGoAndBack.auto
-37
View File
@@ -1,37 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Climb Path step2"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
},
{
"type": "path",
"data": {
"pathName": "LineBack"
}
},
{
"type": "wait",
"data": {
"waitTime": 1.0
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/Rotate.auto
-19
View File
@@ -1,19 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "Rotate"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/autos/RotateAndLine.auto
-19
View File
@@ -1,19 +0,0 @@
{
"version": "2025.0",
"command": {
"type": "sequential",
"data": {
"commands": [
{
"type": "path",
"data": {
"pathName": "RotateAndLine"
}
}
]
}
},
"resetOdom": false,
"folder": null,
"choreoAuto": false
}
src/main/deploy/pathplanner/paths/redBackAndShoot.path → src/main/deploy/pathplanner/paths/Back To Shoot.path
+7 -7
View File
@@ -4,24 +4,24 @@
{
"anchor": {
"x": 13.01022182786158,
"y": 4.119503105590061
"y": 4.0
},
"prevControl": null,
"nextControl": {
"x": 13.865906250551847,
"y": 4.119503105590061
"y": 4.0
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 13.59,
"y": 4.12
"x": 13.5,
"y": 4.0
},
"prevControl": {
"x": 13.321071353115471,
"y": 4.12
"x": 13.231071353115471,
"y": 4.0
},
"nextControl": null,
"isLocked": false,
@@ -45,7 +45,7 @@
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Red Middle",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
src/main/deploy/pathplanner/paths/Climb Path step2.path → src/main/deploy/pathplanner/paths/Climb Step2.path
+5 -5
View File
@@ -8,8 +8,8 @@
},
"prevControl": null,
"nextControl": {
"x": 15.650000000000002,
"y": 3.365
"x": 15.610835339716738,
"y": 3.3590426144037364
},
"isLocked": false,
"linkedName": null
@@ -20,8 +20,8 @@
"y": 3.365
},
"prevControl": {
"x": 15.935706120733446,
"y": 3.365
"x": 15.743555432745389,
"y": 3.3550226257587115
},
"nextControl": null,
"isLocked": false,
@@ -45,7 +45,7 @@
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Red Middle",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
src/main/deploy/pathplanner/paths/Climb Step3.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 15.467,
"y": 3.365
},
"prevControl": null,
"nextControl": {
"x": 15.716589593303949,
"y": 3.3506809597259686
},
"isLocked": false,
"linkedName": null
},
{
"anchor": {
"x": 15.467,
"y": 3.465
},
"prevControl": {
"x": 15.191301517038063,
"y": 3.4933990509259307
},
"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 0.25,
"maxAcceleration": 0.5,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": "Red Middle",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": false
}
src/main/deploy/pathplanner/paths/depotIntakePath.path → src/main/deploy/pathplanner/paths/Depot Intake.path
+1 -1
View File
@@ -45,7 +45,7 @@
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Red Middle",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
src/main/deploy/pathplanner/paths/depotShootPath.path → src/main/deploy/pathplanner/paths/Depot to Shoot.path
+5 -5
View File
@@ -8,8 +8,8 @@
},
"prevControl": null,
"nextControl": {
"x": 16.145956799790877,
"y": 1.9416406158462824
"x": 16.024211489072027,
"y": 1.797481861769637
},
"isLocked": false,
"linkedName": null
@@ -20,8 +20,8 @@
"y": 4.0
},
"prevControl": {
"x": 13.28182215800934,
"y": 4.126069541450674
"x": 13.313026105373341,
"y": 4.165954098256533
},
"nextControl": null,
"isLocked": false,
@@ -45,7 +45,7 @@
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Red Middle",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
src/main/deploy/pathplanner/paths/LineBack.path
-54
View File
@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 14.314,
"y": 6.668017118402283
},
"prevControl": null,
"nextControl": {
"x": 14.299415121255347,
"y": 7.128787446504993
},
"isLocked": false,
"linkedName": "Point1"
},
{
"anchor": {
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"y": 4.15
},
"prevControl": {
"x": 14.299415121255347,
"y": 4.597831669044222
},
"nextControl": null,
"isLocked": false,
"linkedName": "StartingPointRed2"
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 180.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Rotate.path
-54
View File
@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 14.314,
"y": 4.15
},
"prevControl": null,
"nextControl": {
"x": 14.064,
"y": 4.15
},
"isLocked": false,
"linkedName": "StartingPointRed1"
},
{
"anchor": {
"x": 14.314,
"y": 4.15
},
"prevControl": {
"x": 14.650181888846735,
"y": 4.15
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"nextControl": null,
"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
"maxVelocity": 1.5,
"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/RotateAndLine.path
-54
View File
@@ -1,54 +0,0 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 14.314,
"y": 4.15
},
"prevControl": null,
"nextControl": {
"x": 14.312353780313838,
"y": 4.74015691868759
},
"isLocked": false,
"linkedName": "StartingPointRed1"
},
{
"anchor": {
"x": 14.314,
"y": 6.357489300998574
},
"prevControl": {
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"y": 6.098716119828817
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"isLocked": false,
"linkedName": null
}
],
"rotationTargets": [],
"constraintZones": [],
"pointTowardsZones": [],
"eventMarkers": [],
"globalConstraints": {
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"maxAcceleration": 3.0,
"maxAngularVelocity": 360.0,
"maxAngularAcceleration": 720.0,
"nominalVoltage": 12.0,
"unlimited": false
},
"goalEndState": {
"velocity": 0,
"rotation": 0.0
},
"reversed": false,
"folder": null,
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
},
"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/Climb Path step1.path → src/main/deploy/pathplanner/paths/Shoot to Climb Step1.path
+11 -11
View File
@@ -3,13 +3,13 @@
"waypoints": [
{
"anchor": {
"x": 13.59,
"y": 4.12
"x": 13.5,
"y": 4.0
},
"prevControl": null,
"nextControl": {
"x": 14.266378040870812,
"y": 3.6432882001482505
"x": 13.951314803780512,
"y": 3.7446544288446453
},
"isLocked": true,
"linkedName": null
@@ -20,12 +20,12 @@
"y": 3.3650694444444444
},
"prevControl": {
"x": 14.336543591648573,
"y": 3.4619706510920394
"x": 14.32971291116739,
"y": 3.4437767342805516
},
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"x": 14.797456408351428,
"y": 3.2681682377968495
"x": 14.804287088832611,
"y": 3.2863621546083372
},
"isLocked": true,
"linkedName": null
@@ -36,8 +36,8 @@
"y": 3.365
},
"prevControl": {
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"y": 3.401302545741686
"x": 15.593954129696199,
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},
"nextControl": null,
"isLocked": false,
@@ -61,7 +61,7 @@
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Red Middle",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
src/main/deploy/pathplanner/paths/Shoot to Red Depot.path
+54
View File
@@ -0,0 +1,54 @@
{
"version": "2025.0",
"waypoints": [
{
"anchor": {
"x": 13.5,
"y": 4.0
},
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{
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"y": 2.1
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"y": 2.25153433233069
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],
"rotationTargets": [],
"constraintZones": [],
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"globalConstraints": {
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"maxAcceleration": 3.0,
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"nominalVoltage": 12.0,
"unlimited": false
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"goalEndState": {
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"reversed": false,
"folder": "Red Middle",
"idealStartingState": {
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"useDefaultConstraints": true
}
src/main/deploy/pathplanner/paths/redDepotPath.path → src/main/deploy/pathplanner/paths/To Red Depot.path
+1 -1
View File
@@ -45,7 +45,7 @@
"rotation": 180.0
},
"reversed": false,
"folder": null,
"folder": "Red Middle",
"idealStartingState": {
"velocity": 0,
"rotation": 180.0
src/main/deploy/pathplanner/settings.json
+3 -1
View File
@@ -2,7 +2,9 @@
"robotWidth": 0.85,
"robotLength": 0.85,
"holonomicMode": true,
"pathFolders": [],
"pathFolders": [
"Red Middle"
],
"autoFolders": [],
"defaultMaxVel": 1.5,
"defaultMaxAccel": 3.0,